\section{Algorithms}
    
    \subsection{Converting a point to robot coordinates system}
    
      \input{convert_pt}
        

    \subsection{Choosing a goal point}
    
        \input{choose_gp}
    
    \subsection{Follow the path : Pure pursuit}
    
        \input{pure_pursuit}
        
    \subsection{Obstacles avoidance}
    
        \input{obstacle_avoid}